Methods of hook and pivot electro-mechanical interface for teleoperated surgical arms

ABSTRACT

A robotic medical system that includes a quick-connect/disconnect feature to facilitate the connecting and disconnecting of a robotic medical arm to and from a set-up arm is disclosed. The robotic medical system includes a robotic medical arm including an interface having a downward-oriented hook located at an upper portion thereof, and an electrical connector located at a lower portion thereof. The system further includes a set-up arm including an interface having an upward-oriented hook located at an upper portion thereof, and an electrical connector located at a lower portion thereof. To connect the robotic medical arm to the set-up arm, a user links the downward-oriented hook to the upward-oriented hook, and pivots the robotic medical arm until the respective electrical connectors mate with each other. To disconnect the robotic medical arm from the set-up arm, a user pivots the robotic medical arm to disconnect the electrical connectors, and then de-links the hooks.

CROSS REFERENCE TO RELATED APPLICATION

This non-provisional patent application claims the benefit of U.S.Provisional Patent Application No. 60/752,563, entitled “Hook and PivotElectro-Mechanical Interface for Surgical Robotic Arms” filed by BruceM. Schena on Dec. 20, 2005.

FIELD

The embodiments of the invention relate generally to robotic surgicalsystems. More particularly, the embodiments of the invention relate tomounting and dismounting robotic surgical arms and theelectro-mechanical interfaces to do so.

BACKGROUND

Robotic surgery systems are used to perform minimally invasive roboticsurgical procedures. Should one of the robotic surgical arms fail forsome reason, it would be desirable to replace it as quickly as possibleto continue the surgery and/or perform additional procedures. If one ofa plurality of robotic surgical arms of the system is not being used, itmay be used to swap out the failing arm. Alternatively, a spare roboticsurgical arm may be used to swap out a defective or failing roboticsurgical arm. In some other cases, a robotic surgical arm may be swappedout for maintenance, adjustments, and/or cleaning. As a typical roboticsurgical arm is relatively heavy, swapping out a robotic surgical armmay be difficult and time consuming for one person. Thus, there is roomfor improvement in robotic surgical systems to ease the swapping ofrobotic surgical arms into and out of a robotic surgical system.

BRIEF SUMMARY

The embodiments of the invention are summarized by the claims thatfollow below.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of a robotic surgery system to performminimally invasive robotic surgical procedures using one or more roboticsurgical arms.

FIG. 2 a perspective view of the robotic patient-side system of FIG. 1with the one or more robotic surgical arms having the strap drive train.

FIG. 3 is a perspective view of a robotic surgical arm.

FIG. 4 is a schematic side view of a multi-strap drive train having atwo-strap drive system in a third link.

FIG. 5 is a cutaway side sectional view of a robotic surgical armmounted to a set-up arm in a robotic surgical system.

FIGS. 6A-6B illustrate views of a setup joint bracket of a set-up arm.

FIG. 7A—illustrates a perspective view of a drive mount for a roboticsurgical arm in one embodiment of the invention.

FIG. 7B illustrates a perspective view of a drive mount for a roboticsurgical arm in another embodiment of the invention.

FIGS. 8A-8B illustrate views of the setup joint bracket of FIGS. 6A-6Bcoupled to the drive mount of FIG. 7B.

FIGS. 9A-9B illustrate views of the drive mount coupled to the setupjoint bracket without its housing.

FIG. 10 illustrates a perspective view of the electrical connector ofthe robotic surgical arm mated with the electrical connector of thesetup joint bracket.

FIG. 11 illustrates a perspective view of the hook of the drive mount.

FIG. 12A illustrates a cut-away side view of the setup joint bracketcoupled to the drive mount and fastened together by an over centerlatch.

FIG. 12B illustrates a side view of a keeper of the over center latchillustrated in FIG. 12A.

It will be appreciated that all the drawings of Figures provided forherein are for illustrative purposes only and do not necessarily reflectthe actual shape, size, or dimensions of the elements being illustrated.

DETAILED DESCRIPTION

In the following detailed description of the embodiments of theinvention, numerous specific details are set forth in order to provide athorough understanding of the present invention. However, it will beobvious to one skilled in the art that the embodiments of the inventionmay be practiced without these specific details. In other instances,well known methods, procedures, components, and circuits have not beendescribed in detail so as not to unnecessarily obscure aspects of theembodiments of the invention.

Introduction

The embodiments of the invention include methods, apparatus and systemsfor robotic medical systems.

In one embodiment of the invention, a robotic surgical system isprovided including one or more robotic surgical arms withelectro-mechanical interfaces to mount and dismount withelectro-mechanical interfaces of set-up arms of a patient side system.The robotic surgical arm includes a first interface having a first hooknear a first side and a first electrical connector near a second sideopposite the first side. The set-up arm includes a second interface tocouple to the first interface of the robotic surgical arm. The secondinterface has a second hook near a first side and a second electricalconnector near a second side opposite the first. The first hook isadapted to link and pivot with respect to the second hook until thefirst electrical connector of the robotic surgical arm substantiallymates with the second electrical connector of the set-up arm.

In another embodiment of the invention, a robotic surgical arm isprovided that includes a plurality of links pivotally coupled togetherin series to maneuver a tool during surgery; a first motor coupled to atleast one of the plurality of links to pivot the plurality of links; anda drive mount pivotally coupled to a first link of the plurality oflinks. The drive mount has a first hook and a first electrical connectorpositioned in different portions of an electro-mechanical interface. Thefirst hook is to hook onto and pivot in one or more hooks of a setupjoint bracket of a set-up arm. The first electrical connector is to matewith a second electrical connector of the setup joint bracket of theset-up arm to provide one or more control signals to control the firstmotor.

In yet another embodiment of the invention, a method of attaching arobotic surgical arm to a set-up arm in a robotic surgical system isprovided. The method includes mating a first hook of a robotic surgicalarm with a second hook of a set-up arm; pivoting the robotic surgicalarm about a rotational axis located proximate the second hook; aligningthe robotic surgical arm with the set-up arm; and securing the roboticsurgical arm to the set-up arm. The method may further include aligninga first electrical connector of the robotic surgical arm with a secondelectrical connector of the set-up arm.

In still another embodiment of the invention, a method of detaching arobotic surgical arm from a set-up arm in a robotic surgical system isprovided. The method includes removing a securing device that secures arobotic surgical arm to a set-up arm; pivoting the robotic surgical armabout a rotational axis located proximate a linked pair of hooks locatedrespectively at upper portions of respective first and second interfacesof the robotic surgical arm and the set-up arm; and de-linking the hookof the first interface from the hook of the second interface. Thepivoting may disconnect a first electrical connector located at a lowerportion of the first interface from a second electrical connectorlocated at a lower portion of the second interface.

Robotic Surgical System

Referring now to FIG. 1, a block diagram of a robotic surgery system 100is illustrated to perform minimally invasive robotic surgical proceduresusing one or more robotic arms with strap drive. Robotic surgerygenerally involves the use of a robot manipulator that has multiplerobotic manipulator arms. One or more of the robotic manipulator armsoften support a surgical tool which may be articulated (such as jaws,scissors, graspers, needle holders, micro dissectors, staple appliers,tackers, suction/irrigation tools, clip appliers, or the like) ornon-articulated (such as cutting blades, cautery probes, irrigators,catheters, suction orifices, or the like). At least one of the roboticmanipulator arms (e.g., the center robotic manipulator arm 158B) is usedto support a stereo or three dimensional surgical image capture device,such as a stereo endoscope (which may be any of a variety of structuressuch as a stereo laparoscope, arthroscope, hysteroscope, or the like),or, optionally, some other stereo imaging modality (such as ultrasound,fluoroscopy, magnetic resonance imaging, or the like). Robotic surgerymay be used to perform a wide variety of surgical procedures, including,but not limited to, open surgery, neurosurgical procedures (such asstereotaxy), endoscopic procedures (such as laparoscopy, arthroscopy,thoracoscopy), and the like.

A user or operator O (generally a surgeon) performs a minimally invasivesurgical procedure on patient P by manipulating control input devices160 at a master control console 150. A computer 151 of the console 150directs movement of robotically controlled endoscopic surgicalinstruments 101A-101C by means of one or more control cables 159,effecting movement of the instruments using a robotic patient-sidesystem 152 (also referred to as a patient-side cart). The roboticpatient-side system 152 has one or more robotic arms 158A-158C. In oneembodiment of the invention, the one or more robotic arms 158A-158C havea strap drive system. Typically, the robotic patient-side system 152includes at least three robotic manipulator arms 158A-158C supported bylinkages of the set-up arms 156, 156′, with a central robotic arm 158Bsupporting an endoscopic camera 101B and the robotic arms 158A, 158C toleft and right of center supporting tissue manipulation tools 101A and101C.

Generally, the robotic patient-side system 152 includes a positioningportion and a driven portion. The positioning portion of the roboticpatient-side system 152 remains in a fixed configuration during surgerywhile manipulating tissue. The driven portion of the roboticpatient-side system 152 is actively articulated under the direction ofthe operator O generating control signals at the surgeon's console 150during surgery. The actively driven portion of the robotic patient-sidesystem 152 is generally referred to herein as the robotic arms oralternatively to robotic surgical manipulators. The positioning portionof the robotic patient-side system 152 that is in a fixed configurationduring surgery may be referred to as “set-up arms” 156, 156′ withpositioning linkage and/or “set-up joints” (SUJ). In an alternateembodiment of the invention, the robotic patient-side system 152 may bereplaced by set-up arms that couple at one end to left and right sidesof the operating table T. The three robotic manipulator arms 158A-158Cmay then be coupled to the opposite end of the set-up arms.

For convenience in terminology, manipulators such as robotic surgicalarms 158A and 158C actuating the tissue affecting surgical tools 101Aand 101C are generally referred to herein as a PSM (patient-sidemanipulators), and a robotic surgical arm 158B controlling an imagecapture or data acquisition device, such as the endoscopic camera 101B,is generally referred to herein as a ECM (endoscopic cameramanipulator), it being noted that such telesurgical robotic manipulatorsmay optionally actuate, maneuver and/or control a wide variety ofinstruments, tools and devices useful in surgery. The surgical tools101A, 101C and endoscopic camera 101B may be generally referred toherein as tools or instruments 101.

An assistant A may assist in pre-positioning of the robotic patient-sidesystem 152 relative to patient P as well as swapping tools orinstruments 101 for alternative tool structures, and the like, whileviewing the internal surgical site via an assistant's display 154. Withthe embodiments of the invention, the assistant A may also swap in andout the robotic surgical arms 158A and 158C, as well as the roboticsurgical arm 158B, in case one is defective or failing. In other cases,a robotic surgical arm may be swapped out for maintenance, adjustments,or cleaning and then swapped back in by one or more service persons.

Referring now to FIG. 2, a perspective view of the robotic patient-sidesystem 152 is illustrated. The robotic patient-side system 152 may haveone or more robotic surgical arms (a.k.a., robotic surgicalmanipulators) 158A-158C. The robotic arms 158A, 158C are for coupling torobotic surgical tools 101A, 101C and may also be referred to as patientside manipulators (PSM). The robotic arm 158B is for coupling to anendoscopic camera 101B and may also be referred to as an endoscopiccamera manipulator (ECM). Generally, the surgical robotic arms 158A-158Cmay be referred to as a surgical robotic arm or a robotic surgical arm.

The robotic patient-side system 152 further includes a base 202 fromwhich the robotic surgical instruments 101 may be supported. Morespecifically, the robotic surgical instruments 101 are each supported bythe positioning linkage of the set-up arms 156 and the surgical roboticarms 158.

Robotic Surgical Arms

Referring now to FIG. 3, a perspective view of a robotic surgical arm158 is illustrated. As discussed previously, a robotic surgical tool 101may couple to the robotic surgical arm 158. The robotic surgical arm 158includes a plurality of serial links 341-344 pivotally coupled in seriesat joints 312-314 near respective ends of the links. The first link(Link 1) 341 is pivotally coupled to a drive mount 340 at a first joint311 near a first end and the second link (Link 2) 342 at the secondjoint 312 near a second end. The second link 342 may house a motor todrive the linkage of the arm in one embodiment of the invention. Thethird link (Link 3) 343 is pivotally coupled to the second link 342 neara first end and pivotally coupled to the fourth link (Link 4) 344 near asecond end. Generally, the fourth link is substantially in parallel tothe insertion axis 374 of the robotic surgical tool. A fifth link (Link5) 345 is slidably coupled to the fourth link 344. A sixth link (Link 6)346 is slidably coupled to the fifth link 345. Various types of surgicaltools 101 couple to the sixth link 346 of the robotic surgical arm.

The robotic surgical arm 158 includes the mounting base or drive mount340 that allows it to be mounted and supported by set-up arms/joints 156and 156′ of a cart mount, ceiling mount, floor/pedestal mount, or othermounting surface of a patient-side system 152.

Referring now to FIG. 4, a schematic diagram of a drive train 410 of arobotic surgical arm 400 is illustrated. The drive train 410 of therobotic surgical arm 400 may drive and support the weight or load of therobotic arm itself and the load that may be placed on it by the surgicaltool in the surgical site.

The drive train in conjunction with the links and joints of the roboticsurgical arm 400 may constrain the motion of the shaft 430 of thesurgical tool relative to a center of rotation 466.

The mounting base or drive mount 340 may include a motor 401 to yaw therobotic arm 400 about the axis 456 illustrated in FIG. 4. As discussedpreviously and as illustrated in FIG. 4, the second link 342 may house amotor 402 to drive the linkage of the arm about a pitch axis 474.

Electro-Mechanical Interfaces

In FIG. 4, the mounting base or drive mount 340 of the surgical roboticarm 400 includes electrical and mechanical connectors 452 to mate withelectrical and mechanical connectors 450 in a connector portion of aset-up joint of the set-up arm 156,156′. Additionally, fasteners 462(such as bolts) may be used to rigidly couple the robotic surgical arm400 to the set-up arm 156,156′. Alternatively, a lever arm may be usedto lock and unlock the arm 400 from the arms 156,156′ to quickly mountand dismount the robotic surgical arm from the patient side system.Including a hook and pivot electro-mechanical interface between thesurgical robotic arm 400 and the set-up arm 156,156′ can also assist inquickly mounting and dismounting a robotic surgical arm from a patientside system.

Referring now to FIG. 5, a side sectional view of a surgical robotic arm(SRA) portion 540 of a robotic surgical arm 158 and a set-up joint (SUJ)portion 556 of a set-up arm 156,156′ of the robotic patient-side system152 is shown. Generally, the SRA portion 540 of the robotic surgical arm158 may be mechanically and electrically coupled to the SUJ portion 556of the set-up arm 156 as shown in FIG. 5.

The SRA portion 540 is adapted for mechanically coupling to the SUJportion 556 of the set-up arm. An interface 541 of the SRA portion 540can couple to an interface 570 of the SUJ portion 556. The SUJ portion556 may also be referred to herein simply as a set-up joint 556. The SRAportion 540 may also be referred to herein previously as a drive mount340 or a mounting base 340.

As shown in FIG. 5, the interface 541 of the SRA portion 540 may also beadapted for electrically coupling to the interface 570 of SUJ portion556. To do so, the interface 570 of SUJ portion 556 may include one ormore electrical connectors 560. The interface 541 of the SRA portion 540may include one or more electrical connectors 550. As the interface 541of the SRA portion 540 aligns with the interface 570 of SUJ portion 556,the electrical connectors 550 and 560 are first aligned together andthen are electrically and mechanically coupled together. In oneembodiment of the invention, the electrical connectors 550 in the SRAportion 540 are fixed in position and the electrical connectors 560 inthe SUJ portion 556 are adjustable in position such that they can bealigned to the connectors 550. In an alternate embodiment of theinvention, the electrical connectors 560 in the SUJ portion 556 arefixed in position and the electrical connectors 550 in the SRA portion540 are adjustable in position such that they can be aligned to theconnectors 560. In yet another embodiment of the invention, theelectrical connectors 550 and 560 may both be adjustable in position toalign and couple together.

One or more fasteners 590, 462, or 800 may be used to remove any playbetween the interface 541 of the SRA portion 540 and the interface 570of SUJ portion 556. In the surgical robotic arm 158, one or more cables551 are used to couple data signals, control signals, power, and groundfrom the connectors 550 to the electrical system of the surgical roboticarm 158, such as the motors 401,402. In the set-up arm 156, one or morecables 561 are used to couple data signals, control signals, power, andground from the connectors 560 to the electrical system of the patientside system 152.

Pivotable Electro-Mechanical Interfaces

A hook and pivot electro-mechanical interface for robotic surgical armsis now described with reference to FIGS. 6A-12B.

FIGS. 6A-6B illustrate a setup joint bracket 600 of a set-up arm 156,with its blind mated electrical connector 602 and one or more hooks604A-604B to receive a corresponding hook 704 of a drive mount 700 of arobotic surgical arm 158. The setup joint bracket 600 further includes achamfer portion 611 above one or more hooks 604A-604B as bestillustrated in FIG. 6A. The chamfer 611 provides space for the drivemount 700 of the robotic surgical arm to mount the hook 704 onto the oneor more hooks 604A-604B of the setup joint bracket 600 and pivot aboutrotational axes located near the one or more hooks 604A-604B.

As shown in FIGS. 6A-6B, the setup joint bracket 600 further includes analignment recess, slot or opening 610 near its the center between theone or more hooks 604A-604B. An alignment protrusion or a center taperedkey 710 of the drive mount 700 (shown in FIGS. 7A-7B) mates with thealignment recess, slot or opening 610 of the setup joint bracket 600 tocoarsely align the robotic surgical arm 158 with the set-up arm 156.

The electrical connector 602 of the setup joint bracket 600 is afloating connector that is allowed to move slightly and couple to a morerigid electrical connector 702 of the drive mount 700 in one embodimentof the invention. As is also illustrated in FIG. 10, the electricalconnector 602 includes a pair of floating bushings 630 to be moveable inone embodiment of the invention.

In another embodiment of the invention, the electrical connector 602 maybe the more rigid electrical connector and the electrical connector 702of the drive mount has floating bushings to be moveable to align andmate the electrical connectors together. In another embodiment of theinvention, both electrical connectors 602 and 702 have floating bushingsso both are movable and can align and mate the electrical connectorstogether

Additionally, the electrical connector 602 may include alignment holes606A-606B, as shown in FIG. 6B, to mate with tapered alignment pins706A-706B such as is shown in FIG. 10. Furthermore, the electricalconnector 602 includes a plurality of electrical signal pins 616S asshown in FIG. 6B. The electrical connector 602 may also includeelectrical power pins 616P in one embodiment of the invention, as shownin FIG. 6B. The electrical signal pins 616S may be female signal pins tomate with male signal pins in the electrical connector 702, in oneembodiment of the invention. In another embodiment of the invention, theelectrical signal pins 616S may be male signal pins to mate with femalesignal pins in the electrical connector 702. Similarly, the electricalpower pins 616P may be female or male to respectively mate with male orfemale electrical power pins of the electrical connector 702. Theelectrical power pins 616P may be power and ground pins or a pair ofpower pins with ground being made through another connection.

Referring now to FIGS. 7A-7B, alternate embodiments of a drive mount700, 700′ are illustrated. The drive mount 700 illustrated in FIG. 7Aincludes a hook 704 at a top portion and an electrical connector 702 ata bottom portion with a pair of tapered alignment pins 706A-706B. Thedownward-facing hook 704 of the drive mount 700 engages one or moreupward-facing hooks 604A-604B of the setup joint (SUJ) bracket 600. Thedetails of the hook 704 of the drive mount 700 are illustrated in FIG.11.

FIG. 7B illustrates a drive mount 700′, an alternate construction of thedrive mount 700 as another embodiment of the invention. The drive mount700′ includes one or more hooks 704A-704B in a top portion of theinterface and the electrical connector 702 at a bottom portion of theinterface. The one or more hooks 704A-704B of the drive mount 700latches over the corresponding one or more hooks 604A-604B of the setupjoint (SUJ) bracket 600.

Each of the drive mounts 700,700′ includes an alignment protrusion or acenter tapered key 710 that aligns the robotic surgical arm and itselectrical connector to the setup arm with the joint bracket 600 and itselectrical connector 602. The center tapered key 710 of the drive mount700,700′ mates with the alignment recess, slot, or opening 610 of thesetup joint bracket 600. The opening 610 is in center between the one ormore hooks 604A-604B and the electrical connector 602 of the setup jointbracket 600. The hook 704 of the drive mount 700 is mounted into the oneor more hooks 604A-604B of the setup joint bracket 600 and pivotstherein at the top so that the electrical connector 702 of the drivemount 700 is pivoted into the electrical connector 602 of the setupjoint bracket 600. Similarly, the one or more hooks 704A-704B of thedrive mount 700′ are mounted into the one or more hooks 604A-604B of thesetup joint bracket 600 and pivot therein at the top so that theelectrical connector 702 of the drive mount 700 is pivoted into theelectrical connector 602 of the setup joint bracket 600. In this manner,an electrical coupling and a mechanical coupling are coincidentally madebetween the drive mount 700 and the setup joint bracket 600.

The electrical connector 702 of the drive mounts 700,700′ may be ablind-mated electrical connector. As discussed previously, theelectrical connector 702 may include a pair of tapered alignment pins706A-706B to mate with alignment holes 606A-606B in the electricalconnector 602 in one embodiment of the invention. Alternatively, theelectrical connector 702 may have alignment holes with the electricalconnector 602 having tapered alignment pins to mate therein, in anotherembodiment of the invention.

The electrical connector 702 has a plurality of electrical signal pins716S as is illustrated in FIG. 7A. The electrical connector 702 may alsohave one or more electrical power pins 716P as illustrated in FIG. 7A.The electrical signal pins 716S and the electrical power pins 716P maybe male or female pins to respectively mate with female or male pins ofthe electrical connector 602. The electrical power pins 716P may bepower and ground pins or both power pins with ground being provided byanother connection means.

Referring now to FIGS. 8A-8B, the drive mount 700′ is illustrated asbeing coupled to the setup joint bracket 600. A latch on one or moresides of each of the drive mount 700′ and setup joint bracket 600, suchas latch 800 illustrated in FIGS. 12A-12B, may be used to rigidly couplethe two together. For example, a single latch may be used on a bottomside in one embodiment of the invention while a pair of latches may beused one on a left side and another on a right side in anotherembodiment of the invention. In this manner only one person may beneeded to hang the robotic surgical arm and its drive mount 700,700′onto the setup joint bracket 600 of the set-up arm, and allow him/her toconnect and lock it down with the one or more latches.

FIG. 8B better illustrates the mechanical interface between the hook604A and the hooks 704A of the setup joint bracket 600 and the drivemount 700′, respectively. FIG. 8B also better illustrates the electricalconnection made between the electrical connectors 702 and 602 of thedrive mount 700′ and the setup joint bracket 600, respectively.

FIGS. 9A-9B illustrate the drive mount 700,700′ coupled to the setupjoint bracket 600 but with the housing of the drive mount 700,700′ notillustrated. FIG. 9B illustrates where a cable bundle path 720 to theelectrical connector 702 would be provided in the drive mount 700,700′.

Referring now to FIG. 10, the electrical connectors 602 and 702 areillustrated coupled together. The electrical connector 702 of therobotic surgical arm mates with the electrical connector 602. Theelectrical connector 602 in the setup joint bracket 600 includesfloating bushings 630 to allow it to move and better mate with theelectrical connector 702 in the drive mount 700,700′, in one embodimentof the invention. In this case, the setup joint's electrical connector602 may also be referred to as a floating electrical connector.

As shown in FIG. 10, the electrical signal pins 616S (see FIG. 6B) ofthe electrical connector 602 mate with the electrical signal pins 716S(see FIG. 7A) of the electrical connector 702. The electrical power pins616P (see FIG. 6B) of the electrical connector 602 mate with theelectrical power pins 716P (see FIG. 7A) of the electrical connector702.

The mating of the electrical connectors 602 and 702 and their respectiveelectrical signal pins 616S and 716S may provide one or more controlsignals to control one or both of the motors 401,402. The mating of theelectrical connectors 602 and 702 and their respective power pins 616Pand 716P may provide power and/or ground to one or both of the motors401,402.

Referring now to FIG. 11, the replaceable hook 704 is illustratedisolated from the drive mount 700. The replaceable hook 704 of the drivemount 700 is made out of stainless steel in one embodiment of theinvention and can be made thin, small and light. As illustrated in FIG.11, the replaceable hook 704 includes a rolled edge 711 to facilitatepivoting within the one or more hooks 604. The hook 704 is fastened tothe drive mount 700 by one or more fasteners 708, such as illustrated inFIG. 7A. As the hook 704 may sustain wear as it pivots in the one ormore hooks 604 of the setup joint bracket, the fasteners 708 may beremoved and a worn hook replaced with a new hook.

Referring now to FIG. 12A, a cut-away side view of the setup jointbracket 600 coupled to the drive mount 700,700′ is illustrated. An overcenter latch 800 is coupled between the setup joint bracket 600 and thedrive mount 700,700′. As shown better in FIG. 12B, the over center latch800 includes a keeper 802 coupled to the setup joint bracket 600. Themain portion of the over center latch 800 is coupled to the drive mount700,700′. In which case, the main portion 804 of the latch 800 isretained with the drive mount 700,700′ of the surgical arm. In thismanner, it is easy for the over center latch 800 to be latched by asingle user.

In summary, an interface at an end of the robotic surgical arm 158 isequipped with a bracket which has a “hook feature” provided by a hook704 oriented or facing downward. An interface at an end of the set-uparm 156 is equipped with a mating hook feature provided by one or morehooks 604A-604B that are oriented or facing upward. The one or morehooks 604A-604B have a chamfer 611 above them in the interface of theset-up arm to provide space for the robotic surgical arm to mount andpivot the hook 704 within the one or more hooks 604A-604B.

An exemplary operation of the hook and pivot electro-mechanicalinterface for robotic surgical arms is now briefly described.

A person installing a robotic surgical arm is able to hang an end of therobotic surgical arm onto the set-up arm without much precision so thatsome of the weight of the robotic surgical arm is supported by theset-up arm. The robotic surgical arm may be more or less level when itis initially hung onto the set-up arm. The downward facing hook 704 ofthe drive mount 700,700′ is mounted into the one or more upward facinghooks 604A-604B of the setup joint bracket 600. The downward facing hook704 has a rounded lower edge which engages the one or more upward facinghooks 604A-604B of the set-up arm.

As the robotic surgical arm is lowered, the hung end pivots around themated hooks 704 and 604A-604B. The tapered key feature (centered taperedkey 710 and opening/slot 610) initially provides a coarse alignmentbetween the robotic surgical arm and the set-up arm as the two parts aremated together. The pivoting action of the robotic surgical arm forcesthe tapered key 710 of the robotic surgical arm into the slot 610 of theset-up arm (these features may be on opposite sides such that taperedkey 710 may be in the set-up arm while the slot 610 is in the roboticsurgical arm) which progressively aligns the robotic surgical arm andthe set-up arm by forcing it side-to-side until they are aligned. Thekey brings the two parts into close alignment (e.g., ½ mm approximately)so that the pair of blind-mate electrical connectors 602 and 702 (oneequipped with tapered alignment pins) can start to align and mate.

Gravity may help to pivot the robotic surgical arm further downwardcontinuing to drive the key 710 in further into the slot 610 andcomplete the alignment and mating of the electrical connectors. Once therobotic surgical arm is fully seated, a fastener, such as a latch oralternatively a bolt/screw, may be used to lock the connection together.

The quick-disconnect/connect interface between the robotic surgical armand the set-up arm has the following features. The initial alignmentprecision between the robotic surgical arm and the set-up arm can berelatively low. The alignment precision between the robotic surgical armand the set-up arm is progressively increased by the mechanical“wedging” of the key 710 into the slot 610 without a user having to fussover the alignment. The weight of the robotic surgical arm is used toassist in making the connection between the robotic surgical arm and theset-up arm. The weight of the robotic surgical arm may provide themajority of the force for mating the electrical connectors 602 and 702at the end of the stroke. The electrical connectors 602 and 702 are“blind mate” style electrical connectors with one having alignment pinsto compensate for unit-to-unit mechanical tolerances, in one embodimentof the invention. The “mate-mechanical-before-electrical” designphilosophy of the interface is used to reduce the risk of smashing thepins of the electrical connector during the initial alignment phase.When detaching the robotic surgical arm, the length/size of the roboticsurgical arm acts as a giant “lever” to disengage the electricalconnectors 602 and 702 from each other as they can mate withconsiderable force.

CONCLUSION

It is advantageous to be able to quickly, reliably and rigidly attachand remove items that have both mechanical and electrical connections.This is especially valuable for robotic surgical arms, where time toreplace a robotic surgical arm is desirable to be kept to a minimum.Previously, making mechanical and the electrical connectionssimultaneously together meant that any misalignment of the mechanicalconnection could result in damage of the electrical connections,especially considering the tight tolerances required by most electricalconnectors. The embodiments of the invention allow for the electricalconnections to occur passively, after alignment of the mechanicalelements and the mechanical connection is made, to avoid damage to theelectrical connections.

While certain exemplary embodiments of the invention have been describedand shown in the accompanying drawings, it is to be understood that suchembodiments are merely illustrative of and not restrictive on the broadinvention, and that the embodiments of the invention not be limited tothe specific constructions and arrangements shown and described, sincevarious other modifications may occur to those ordinarily skilled in theart after reading this disclosure. For example, the embodiments of theinvention have been described with reference to robotic surgical armsand robotic surgical systems. However, the embodiments of the inventionare equally applicable to other types of robotic arms and roboticsystems including robotic medical arms and robotic medical systems.Instead, the embodiments of the invention should be construed accordingto the claims that follow below.

1-25. (canceled)
 26. A method of attaching a robotic medical arm to aset-up arm in a robotic medical system, the method comprising: mating afirst hook of a robotic medical arm with a second hook of a set-up arm;pivoting the robotic medical arm about a rotational axis locatedproximate the second hook; aligning the robotic medical arm with theset-up arm; and securing the robotic medical arm to the set-up arm. 27.The method of claim 26, further comprising: aligning a first electricalconnector of the robotic medical arm with a second electrical connectorof the set-up arm.
 28. The method of claim 26, wherein securing therobotic medical arm to the set-up arm includes bolting the roboticmedical arm to the set-up arm.
 29. The method of claim 26, whereinsecuring the robotic medical arm to the set-up arm includes latching therobotic medical arm to the set-up arm.
 30. The method of claim 26,wherein aligning the robotic medical arm to the set-up arm includesinserting a tapered key into a slot.
 31. The method of claim 27, whereinaligning the first electrical connector with the second electricalconnector includes inserting a pair of tapered alignment pins into apair of alignment holes, and moving one of the first electricalconnector, the second electrical connector, or both the first and secondelectrical connectors.
 32. The method of claim 27, wherein the firsthook is a downward oriented hook located in a first portion of a firstinterface of the robotic medical arm, and the first electrical connectoris located in a second portion of the first interface opposite the firstportion; and the second hook is an upward oriented hook located in afirst portion of a second interface of the set-up arm, and the secondelectrical connector is located in a second portion of the secondinterface opposite the first portion.
 33. The method of claim 32,wherein the first portion of the first interface of the robotic medicalarm is an upper portion of the first interface and the second portion ofthe first interface is a lower portion of the first interface, and thefirst portion of the second interface of the set-up arm is an upperportion of the second interface and the second portion of the secondinterface is a lower portion of the second interface.
 34. A method ofdetaching a robotic medical arm from a set-up arm in a robotic medicalsystem, the method comprising: removing a securing device that secures arobotic medical arm to a set-up arm; pivoting the robotic medical armabout a rotational axis located proximate a linked pair of hooks locatedrespectively at upper portions of respective first and second interfacesof the robotic medical arm and the set-up arm; and de-linking the hookof the first interface from the hook of the second interface.
 35. Themethod of claim 34, wherein the pivoting to disconnect a firstelectrical connector located at a lower portion of the first interfacefrom a second electrical connector located at a lower portion of thesecond interface.
 36. The method of claim 34, wherein removing thesecuring device includes removing one or more bolts that secure therobotic medical arm to the set-up arm.
 37. The method of claim 34,wherein removing the securing device includes unlatching a latch thatsecures the robotic medical arm to the set-up arm.
 38. The method ofclaim 27, wherein the first electrical connector is located in a bottomportion of a first interface opposite the first hook located in a topportion of the first interface; the second electrical connector islocated in a bottom portion of a second interface opposite the secondhook located in a top portion of the second interface; and the firsthook is adapted to link and pivot with respect to the second hook tocouple the first electrical connector of the robotic medical arm withthe second electrical connector of the set-up arm.
 39. The method ofclaim 38, wherein the first electrical connector is movable with respectto the first interface to facilitate the mating of the first electricalconnector to the second electrical connector.
 40. The method of claim38, wherein the second electrical connector is movable with respect tothe second interface to facilitate the mating of the second electricalconnector to the first electrical connector.
 41. The method of claim 38,wherein the first and second electrical connectors are movable withrespect to the first and second interfaces to facilitate the mating ofthe first electrical connector to the second electrical connector. 42.The method of claim 41, wherein the first and second electricalconnectors are linearly movable with respect to the first and secondinterfaces.